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A Bio-inspired Grasp Stiffness Control for Robotic Hands

This work presents a bio-inspired grasp stiffness control for robotic hands based on the concepts of Common Mode Stiffness (CMS) and Configuration Dependent Stiffness (CDS). Using an ellipsoid representation of the desired grasp stiffness, the algorithm focuses on achieving its geometrical features....

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Principais autores: Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Arash Ajoudani
Format: Artigo
Sprog:Inglês
Udgivet: Frontiers Media S.A. 2018-07-01
Serier:Frontiers in Robotics and AI
Fag:
bio-inspired
grasping
stiffness
robotic hand
under-actuation
Online adgang:https://www.frontiersin.org/article/10.3389/frobt.2018.00089/full
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